Portable special galvanometer adjusting equipment

Abstract

The utility model belongs to the technical field of medical instruments, and particularly relates to a portable special galvanometer adjusting device, which comprises a robot provided with a mechanical arm, a galvanometer arranged at the tail end of the mechanical arm, and a marking ball arranged on the galvanometer; the machine body is provided with a laser generator; one end of the light guide device is connected to the laser generator, the other end of the light guide device is connected to the galvanometer, and a laser transmission channel is formed in the light guide device so that light beams emitted by the laser generator can be guided into the galvanometer through the laser transmission channel; the detection device is used for detecting the current position information of the galvanometer; and the controller is arranged on the machine body and is in communication connection with the detection device, the robot, the galvanometer and the laser generator so as to correspondingly control the robot, the galvanometer and the laser generator to execute corresponding actions according to the received current position information of the galvanometer. Therefore, the problems that in the prior art, laser equipment is huge and heavy, is not suitable for movement and operation in a clinical environment and is easily influenced by the environment are solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical instruments, and particularly relates to a portable special galvanometer adjusting device. BACKGROUND

[0002] In a clinical surgical operation, the bone and soft tissue of the patient's sick part need to be subjected to laser surgery. The laser emitted by the laser device has a large diameter after passing through the beam expander. Therefore, it is necessary to match the same specification of light inlet aperture, mirror, field lens and other lenses. The galvanometer of such a specification has a large volume and a weight greater than the effective payload of a medical robot, and cannot be applied in a laser surgery system. In view of the problem that the laser device in the prior art is large and heavy, is not suitable for movement and operation in a clinical environment, and is easily affected by the environment, the current instrument structure needs to be optimized and improved, so as to solve the existing technical problems. SUMMARY

[0003] The utility model aims at providing a portable special galvanometer adjusting device to solve the problem that the laser device in the prior art is large and heavy, is not suitable for movement and operation in a clinical environment, and is easily affected by the environment.

[0004] In order to achieve the above-mentioned purpose, the utility model provides a portable special galvanometer adjusting device, which comprises:

[0005] A robot has a mechanical arm, the end of the mechanical arm is provided with a galvanometer, and a mark ball is arranged on the galvanometer.

[0006] A machine body is provided with a laser generator.

[0007] A light guide device is connected to the laser generator at one end and connected to the galvanometer at the other end. A laser transmission channel is arranged on the light guide device to guide the light beam emitted by the laser generator into the galvanometer through the laser transmission channel.

[0008] A detection device is used to detect the current position information of the galvanometer.

[0009] A controller is arranged on the machine body. The controller is communicatively connected to the detection device, the robot, the galvanometer and the laser generator. According to the received current position information of the galvanometer, the robot, the galvanometer and the laser generator are controlled to perform corresponding actions.

[0010] In a possible design, the light guide device comprises a plurality of light guide barrels. Adjacent light guide barrels are rotatably connected. The inner walls of the light guide barrels are each provided with a mirror for transmitting a light beam.

[0011] In a possible design, the light guide device includes at least four light guide tubes, wherein the light guide tube connected to the laser generator is arranged vertically, and the end of the light guide tube is fixedly connected to the emission end of the laser generator.

[0012] In a possible design, the galvanometer is connected to the light guide device through a mounting disc, and the mounting disc is provided with a connecting piece connected to the mechanical arm.

[0013] In a possible design, one end of the mounting disc is detachably connected to the light inlet of the galvanometer through a first fastener, and the other end is provided with a connecting tube that is threadedly connected to the light guide device.

[0014] In a possible design, the connecting piece includes a locking ring, a connecting rod and a connecting seat connected in sequence, the locking ring is sleeved on the mounting disc and tightly clamped on the mounting disc, and the connecting seat is detachably connected to the mechanical arm through a second fastener.

[0015] In a possible design, the robot and the body are both provided with rolling elements.

[0016] In a possible design, the controller is communicatively connected to a terminal.

[0017] In a possible design, the controller is arranged in the body.

[0018] The robot serves as a main body movement component, and the galvanometer is installed at the end of the mechanical arm, so that the galvanometer can be accurately moved to a required position through the accurate control and positioning capability of the mechanical arm. The galvanometer is a key reflecting element, one end of which is connected to the mechanical arm, and the other end is connected to the light guide arm. The galvanometer internally includes X motor reflecting mirror and Y motor reflecting mirror, which can independently rotate to change the transmission direction of the laser beam. The laser generator arranged in the body provides a light source for the surgery. The laser emitted by the laser generator is collimated and transmitted to the galvanometer after passing through the beam expander and the light guide arm. The light guide device is provided with a laser transmission channel to ensure that the laser beam can be accurately transmitted from the laser generator to the galvanometer. The detection device is responsible for monitoring the current position information of the galvanometer in real time and transmitting the information to the controller. The controller receives the position information from the detection device and controls the coordinated work of the robot, the galvanometer and the laser generator according to the information.

[0019] The working principle of the portable special galvanometer adjusting device is as follows: the laser generator emits laser, and after passing through the beam expander and the light guide arm, the laser beam is collimated and transmitted to the galvanometer. The X motor mirror and the Y motor mirror inside the galvanometer rotate according to the instructions of the controller, thereby changing the transmission direction of the laser beam. In this way, the laser beam can reach the surgical area according to the predetermined path. The controller controls the movement of the mechanical arm according to the galvanometer position information provided by the detection device, so that the galvanometer can accurately move to the required position. According to the preoperative planning route of the doctor, the controller cooperatively controls the robot, the galvanometer and the laser generator to realize accurate navigation and execution of the operation.

[0020] Through the above technical scheme, under the cooperative work of the robot and the galvanometer, accurate control and positioning of the laser beam can be realized, thereby ensuring the accuracy of the operation. At the same time, the movement ability of the robot also provides great convenience. The system can be applied to various clinical operations, including but not limited to ophthalmic operations, neurosurgical operations and other fields requiring high precision and fine operation. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, a brief introduction of the drawings needed in the embodiment or prior art description will be given below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0022] Figure 1 is a perspective structural schematic view of the portable special galvanometer adjusting device in an embodiment provided by the present application;

[0023] Figure 2 is a perspective structural schematic view of the portable special galvanometer adjusting device in an embodiment provided by the present application, part of the body is removed to show the internal structure;

[0024] Figure 3 is a structural schematic view of the galvanometer in the portable special galvanometer adjusting device in an embodiment provided by the present application;

[0025] Figure 4 is a structural schematic view of the galvanometer in the portable special galvanometer adjusting device in an embodiment provided by the present application, wherein, Figure 4 and Figure 3 have different viewing angles.

[0026] In the above drawings: 1-robot, 11-mechanical arm, 2-mirror, 21-marking ball, 22-X motor mirror piece, 23-Y motor mirror piece, 24-field mirror, 3-machine body, 4-laser generator, 5-light guide device, 6-controller, 71-mounting disc, 72-connection barrel, 8-connection piece, 81-locking ring, 82-link, 83-connection seat, 9-rolling piece. DETAILED DESCRIPTION

[0027] The utility model will be further described below in combination with the drawings and specific embodiments. It needs to be explained here that the description of these embodiment modes is for helping to understand the utility model and does not constitute the limitation of the utility model. The specific structure and functional details disclosed in this paper are only used to describe the embodiment of the utility model example. However, the utility model can be embodied in many alternative forms, and should not be understood as limiting the utility model in the embodiments set forth in this paper.

[0028] According to the first aspect of the utility model, a kind of portable special galvanometer adjusting equipment is provided. Wherein, galvanometer is prior art, including X motor mirror piece, Y motor mirror piece and field mirror. Wherein, Figures 1 to 4 One of specific embodiments is shown.

[0029] Referring to Figures 1 to 4 As shown in the figure, the portable special galvanometer adjusting equipment includes: robot 1, with mechanical arm 11, the end of mechanical arm 11 is equipped with mirror 2, and marking ball 21 is arranged on mirror 2;Machine body 3 is provided with laser generator 4;Light guide device 5, one end is connected to laser generator 4, the other end is connected to mirror 2, and laser transmission channel is arranged on light guide device 5, so that the light beam emitted by laser generator 4 is guided into mirror 2 through laser transmission channel;Detection device, for detecting the current position information of mirror 2;And controller 6 is arranged on machine body 3, and controller 6 is connected to detection device, robot 1, mirror 2 and laser generator 4, to correspondingly control robot 1, mirror 2 and laser generator 4 to execute corresponding action according to the current position information of mirror 2 received.

[0030] The robot 1 is the main moving part, and the tip of the mechanical arm 11 is equipped with a galvanometer 2. The galvanometer 2 can be accurately moved to the required position through the precise control and positioning ability of the mechanical arm 11. The galvanometer 2 is a key reflective element, one end of which is connected to the mechanical arm 11, and the other end is connected to the light guide arm. Inside the galvanometer 2, there are X motor mirror pieces 22 and Y motor mirror pieces 23, which can independently rotate to change the transmission direction of the laser beam. The laser generator 4 built in the body 3 provides light source for the operation. The laser emitted by the laser generator 4 is collimated and transmitted into the galvanometer 2 after passing through the beam expander and the light guide arm. The light guide device 5 is provided with a laser transmission channel to ensure that the laser beam can be accurately transmitted from the laser generator 4 to the galvanometer 2. The detection device is responsible for monitoring the current position information of the galvanometer 2 in real time and transmitting these information to the controller 6. The controller 6 receives the position information from the detection device and controls the coordinated work of the robot 1, the galvanometer 2 and the laser generator 4 according to these information.

[0031] The working principle of the portable special galvanometer adjusting device is as follows: the laser generator 4 emits laser, and the laser beam is collimated and transmitted into the galvanometer 2 after passing through the beam expander and the light guide arm. The X motor mirror pieces 22 and Y motor mirror pieces 23 inside the galvanometer 2 rotate according to the instructions of the controller 6, so as to change the transmission direction of the laser beam. In this way, the laser beam can reach the operation area according to the predetermined path. According to the position information of the galvanometer 2 provided by the detection device, the controller 6 controls the movement of the mechanical arm 11, so that the galvanometer 2 can be accurately moved to the required position. According to the preoperative planning route of the doctor, the controller 6 cooperatively controls the robot 1, the galvanometer 2 and the laser generator 4 to realize the accurate navigation and execution of the operation.

[0032] Through the above technical scheme, under the coordinated work of the robot 1 and the galvanometer 2, the accurate control and positioning of the laser beam can be realized, so as to ensure the precision of the operation. At the same time, the movement ability of the robot 1 also provides great convenience. The system can be applied to various clinical operations, including but not limited to ophthalmic surgery, neurosurgery and other fields requiring high precision and fine operation.

[0033] It should be noted that in the present disclosure, the working principle and corresponding structure of the laser generator 4, the robot 1 and the galvanometer 2 are all prior art, and those skilled in the art can make routine improvements to the products in the prior art under the technical concept of the present disclosure.

[0034] In an embodiment provided in the present disclosure, the light guide device 5 comprises a plurality of light guide tubes, adjacent light guide tubes are rotatably connected, and the inner wall of the light guide tube is provided with a mirror for transmitting light beams. Since adjacent light guide tubes can rotate relative to each other, the shape and path of the entire light guide device 5 can be adjusted as needed. Through the arrangement of the mirror, the light beams incident into the light guide tube are effectively transmitted to the target position along the predetermined path.

[0035] When designing the structure, a material with high reflectivity and good durability can be selected as the mirror to ensure that the reflectivity remains high after long-term use.

[0036] In order to prevent dust, moisture and the like from entering the inside of the light guide tube and affecting the quality of the light beams, the connection between adjacent light guide tubes has a sealing structure, which can ensure smooth rotation of the light guide tube while ensuring sealing performance.

[0037] In the present disclosure, the light guide device 5 comprises at least four light guide tubes, wherein the light guide tube connected to the laser generator 4 is vertically arranged, and the end of the light guide tube is fixedly connected to the emission end of the laser generator 4. The first vertically arranged light guide tube allows the light beams emitted from the laser generator 4 to propagate in a vertical direction, which helps to ensure that the transmission path in the initial stage is more stable and controllable.

[0038] It should be noted that the present disclosure is provided with at least four light guide tubes, and such a configuration allows the light guide device 5 to adjust the direction of the light beams through multiple segments, which can realize more complex path planning while maintaining good light transmission efficiency.

[0039] The rotatable connection between the light guide tubes allows each light guide tube to independently adjust its angle relative to other parts, thereby allowing the light beams to change direction as needed, allowing the light beams to be transmitted in almost any direction in three-dimensional space, improving the flexibility and practicality of the device, and being suitable for various scenes with high requirements for light path control.

[0040] In an embodiment provided in the present disclosure, the galvanometer 2 is connected to the light guide device 5 through a mounting disc 71, and the mounting disc 71 is provided with a connecting piece 8 connected to the mechanical arm 11.

[0041] The mounting disc 71 not only serves as a physical connection point between the galvanometer 2 and the light guide device 5, but also provides a stable support structure for the galvanometer 2, facilitating positioning and installation of the light guide device 5 and the galvanometer 2.

[0042] Connecting the above components (including the galvanometer 2 and its mounting disc 71) to the mechanical arm 11 through the connecting piece 8 can greatly improve the flexibility and functionality of the system. The mechanical arm 11 can adjust the position and angle of the galvanometer 2 as needed, thereby expanding the range of laser applications.

[0043] In one embodiment provided by the present disclosure, one end of the mounting disc 71 is detachably connected to the galvanometer 2 through the first fastener, and the other end is provided with a connecting cylinder 72 which is threadedly connected to the light guide device 5.

[0044] The galvanometer 2 is detachably fixed on the mounting disc 71 through the first fastener (such as a screw, a buckle, etc.). When the galvanometer 2 needs to be repaired or replaced, it can be conveniently and quickly operated without disassembling the entire device, which is beneficial to reduce the maintenance difficulty and cost.

[0045] Specifically, the connecting cylinder 72 is connected to the light guide device 5 in a threaded connection manner, which can provide a relatively stable interface to ensure the close cooperation between the galvanometer 2 and the light guide device 5, and can also withstand certain mechanical stress to ensure the overall stability of the system. Based on the mechanical connection manner of the threaded connection between the connecting cylinder 72 and the light guide device 5, it is not only convenient for quick assembly, but also supports repeated use without significantly affecting the connection quality.

[0046] When the model and specifications of the light guide device 5 or the galvanometer 2 change, the design of the connecting cylinder 72 can be adjusted to adapt to different light guide devices 5, improving the compatibility and flexibility of the system. Threaded connection is usually tighter than other types of connection, which helps to reduce the influence of external environmental factors (such as dust, moisture) on internal components, thereby protecting the precise optical elements.

[0047] Specifically, the connecting piece 8 includes a locking ring 81, a connecting rod 82 and a connecting seat 83 connected in sequence. The locking ring 81 is sleeved on the mounting disc 71 and tightly clamped on the mounting disc 71, and the connecting seat 83 is detachably connected to the mechanical arm 11 through the second fastener. The locking ring 81 can be fastened on the mounting disc 71 by means of thread, bolt or buckle, so as to strengthen the connection strength between the connecting piece 8 and the mounting disc 71 and prevent loosening phenomenon in the use process.

[0048] The connecting rod 82 serves as an intermediate connecting part to connect the locking ring 81 and the connecting seat 83. It should be noted that the connecting rod 82 has a certain rigidity to resist the influence of external torque and maintain the stability of the overall structure.

[0049] The connecting seat 83 is detachably connected to the mechanical arm 11 through the second fastener. This design allows users to conveniently install and disassemble the galvanometer 2 system, and also facilitates the adjustment of the position of the galvanometer 2 relative to the mechanical arm 11. The design of the connecting seat 83 needs to consider the matching with the mechanical arm 11 to ensure a stable and reliable connection. The second fastener can be provided as a screw, a bolt or any suitable part.

[0050] In an embodiment provided in the present disclosure, the robot 1 and the body 3 are both provided with rolling members 9. The rolling members 9 enable the robot 1 and the body 3 to move easily on a plane. Compared with direct dragging, the use of the rolling members 9 can reduce the wear and tear on the floor surface, especially for sensitive ground materials such as carpets, wooden floors, etc., reducing the damage to the ground. In the case of frequent changes of work site, the design with rolling members 9 can significantly reduce the preparation time and labor cost, thus facilitating the transfer between different departments in a hospital.

[0051] In one design, the rolling members 9 are provided as universal wheels supporting omnidirectional movement, so that the robot 1 and the body 3 can achieve more flexible direction adjustment and adapt to different working environments.

[0052] In another design, the rolling members 9 can also be provided with brake structures to prevent accidental sliding when not needed to move, improving the positioning reliability of the rolling members 9 after moving to the target position.

[0053] In an embodiment provided in the present disclosure, the controller 6 is communicatively connected to a terminal. By connecting the controller 6 of the galvanometer 2 adjusting device to a terminal (such as a computer, a tablet computer or a smart phone), the user can accurately adjust the position, angle and other parameters of the galvanometer 2 from a distance.

[0054] It should be noted that the terminal is usually provided with a graphical user interface (GUI) which can provide an intuitive operation mode to set the parameters of the galvanometer 2, so that the user can easily input complex instructions through the software interface, thereby achieving higher accuracy than manual adjustment.

[0055] The communication between the controller 6 and the terminal can also be used to transmit real-time data such as the current angle and speed of the galvanometer 2. In this way, the operator can immediately understand the system state and make adjustments as needed.

[0056] In the present disclosure, the controller 6 is arranged in the body 3 and can be protected by the shell of the body 3, reducing the risk of misoperation and protecting sensitive electronic components from external physical damage. In addition, the influence of external dust, moisture and other pollutants can also be avoided, thereby improving the reliability and service life of the controller 6. Furthermore, the integrated design reduces the installation steps, and the user does not need to additionally wire the controller 6 and the body 3, simplifying the assembly process of the system.

[0057] Further, the body 3 is also provided with a heat dissipation structure (such as a fan, a heat sink), which can help the controller 6 to dissipate heat better and ensure that it can maintain good performance during long-time operation.

[0058] Specifically, the controller 6 is configured as a central processing unit (CPU). In addition, the controller 6 can also be configured as a PLC logic controller 6, a single-chip microcomputer. In other embodiments, the controller 6 can also be configured as one of a digital signal processor (DSP), an application specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0059] For the detection device used, it can be configured as any suitable detection element in the prior art, such as a laser displacement sensor, an infrared distance sensor, or a radar. Those skilled in the art can flexibly configure it according to actual needs.

[0060] In the present disclosure, the controller 6 is respectively connected in communication with the detection device, the robot 1, the galvanometer 2, and the laser generator 4 through a cable. In other embodiments, the controller 6 can also be connected in communication with the detection device, the robot 1, the galvanometer 2, and the laser generator 4 through a wireless communication module such as a WiFi module or a Beken Bluetooth chip module. Those skilled in the art can flexibly configure it under the technical concept of the present disclosure.

[0061] Finally, it should be noted that the present application is not limited to the above-mentioned optional embodiments, and anyone can derive other various forms of products under the inspiration of the present application. The above specific embodiments should not be understood as limiting the scope of protection of the present application, and the scope of protection of the present application should be defined by the claims, and the specification can be used to interpret the claims.

Claims

1. A portable dedicated galvanometer adjustment device, characterized by, The application relates to a robot system, which comprises: a robot having a mechanical arm, the end of the mechanical arm being provided with a galvanometer, the galvanometer being provided with a mark ball; a body provided with a laser generator; a light guide device, one end of the light guide device being connected to the laser generator and the other end being connected to the galvanometer, the light guide device being provided with a laser transmission channel for guiding the light beam emitted by the laser generator into the galvanometer through the laser transmission channel; a detection device for detecting the current position information of the galvanometer; and a controller arranged on the body, the controller being communicatively connected to the detection device, the robot, the galvanometer and the laser generator, so as to control the robot, the galvanometer and the laser generator to perform corresponding actions according to the received current position information of the galvanometer. The light guide device comprises a plurality of light guide tubes, adjacent light guide tubes being rotatably connected, and the inner wall of each light guide tube being provided with a mirror for transmitting the light beam.

2. The portable dedicated galvanometer adjusting device according to claim 1, wherein, The light guide device comprises at least four light guide tubes, wherein the light guide tube connected to the laser generator is vertically arranged, and the end of the light guide tube is fixedly connected to the emission end of the laser generator.

3. The portable dedicated galvanometer adjusting device according to claim 1, wherein, The galvanometer is connected to the light guide device through a mounting disc, and the mounting disc is provided with a connecting piece connected to the mechanical arm.

4. The portable dedicated galvanometer adjusting device according to claim 1, wherein, One end of the mounting disc is detachably connected to the light inlet of the galvanometer through a first fastener, and the other end is provided with a connecting tube which is threadedly connected to the light guide device.

5. The portable dedicated galvanometer adjusting device according to claim 4, wherein, The connecting piece comprises a locking ring, a connecting rod and a connecting seat which are connected in sequence, the locking ring being sleeved on the mounting disc and tightly clamped on the mounting disc, and the connecting seat being detachably connected to the mechanical arm through a second fastener.

6. The portable dedicated galvanometer adjusting device according to claim 4, wherein, The robot and the body are both provided with rolling elements.

7. The portable dedicated galvanometer adjusting device according to any one of claims 1 to 6, characterized in that, The controller is communicatively connected to a terminal.

8. The portable dedicated galvanometer adjusting device according to any one of claims 1-6, characterized in that, The controller is arranged in the body.

9. The portable dedicated galvanometer adjusting device according to any one of claims 1 to 6, characterized in that, ​

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